Author

Sergey Levine

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Preprint Aug 2026

Learning to Act While Waiting: RL Finetuning of Generalist Robot Policies Under Inference Latency

While reinforcement learning (RL) allows generalist robot policies to continually improve during deployment, the large model size of modern generalist policies, such as VLAs, poses a fundamental obstacle to effective RL improvement. In particular, their severe inference latency---which can lead to pauses or jerky movem...

Brian Zhu, Momen Khalil, E. Harrison et al. · 1 citation

Preprint Aug 2026

Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?

Action chunking---predicting and executing multiple actions instead of a single action---has proven to be a critical component for learning effective robotic control policies. However, our precise understanding of why action chunking improves performance has remained limited. In this work we seek to close this gap. Thr...

Filippo Lazzati, Kyle Stachowicz, William Chen et al. · 5 citations